/PROG  TL1_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 PICK";
PROG_SIZE	= 1303;
CREATE		= DATE 12-04-21  TIME 12:14:44;
MODIFIED	= DATE 25-02-22  TIME 16:15:46;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 26;
MEMORY_SIZE	= 1703;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[25:TOOL #1]=ON    ;
   6:J P[1:CLEAR] 50% CNT100    ;
   7:L P[2:APPROACH] 600mm/sec CNT100    ;
   8:  WAIT DI[25:TOOL #1]=ON    ;
   9:L P[3:APPROACH] 300mm/sec CNT100    ;
  10:L P[4:APPROACH] 300mm/sec FINE    ;
  11:  DO[13:REQ ATC CHUCK]=OFF ;
  12:  DO[14:REQ ATC UNCHUCK]=ON ;
  13:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  14:  WAIT    .50(sec) ;
  15:L P[5:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=ON    ;
  16:  DO[20:TOOL1 POS]=ON ;
  17:  WAIT   1.00(sec) ;
  18:  DO[14:REQ ATC UNCHUCK]=OFF ;
  19:  DO[13:REQ ATC CHUCK]=ON ;
  20:  WAIT DI[13:ATC CHUCK OK]=ON    ;
  21:  WAIT   1.00(sec) ;
  22:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=OFF    ;
  23:L P[7:APPROACH] 300mm/sec CNT50    ;
  24:L P[8:APPROACH] 300mm/sec CNT50    ;
  25:L P[9:CLEAR] 600mm/sec CNT50 ACC70    ;
  26:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3066.683  mm,	Y =   759.262  mm,	Z =  -484.000  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =    90.000 deg,
	E1=   195.729 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.823  mm,	Y =   787.680  mm,	Z = -1045.378  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    15.275 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    21.556 deg,	J2=   -16.181 deg,	J3=    74.159 deg,
	J4=    83.506 deg,	J5=  -110.600 deg,	J6=    72.921 deg,
	E1=    15.275 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3223.404  mm,	Y =   726.573  mm,	Z = -1435.305  mm,
	W =   158.570 deg,	P =    88.903 deg,	R =    68.732 deg,
	E1=    15.637 deg
};
P[5:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3223.290  mm,	Y =   510.000  mm,	Z = -1435.387  mm,
	W =   158.773 deg,	P =    88.902 deg,	R =    68.936 deg,
	E1=    15.634 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3223.088  mm,	Y =   510.000  mm,	Z = -1355.803  mm,
	W =   159.307 deg,	P =    88.899 deg,	R =    69.475 deg,
	E1=    15.634 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    20.898 deg,	J2=   -18.139 deg,	J3=    70.764 deg,
	J4=    81.883 deg,	J5=  -109.166 deg,	J6=    68.524 deg,
	E1=    15.638 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    22.289 deg,	J2=   -16.339 deg,	J3=    82.054 deg,
	J4=    86.403 deg,	J5=  -112.014 deg,	J6=    81.288 deg,
	E1=    15.275 deg
};
P[9:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3066.682  mm,	Y =   759.262  mm,	Z =  -484.000  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =    90.000 deg,
	E1=    15.275 deg
};
/END
